Biography
Fabien Moutarde is a researcher whose work lies at the intersection of artificial intelligence, robotics, and multimodal perception. His research covers a wide range of topics, from optimizing computer vision algorithms—such as improving RANSAC methods for estimating geometric models—to integrating multiple sensory data (vision, sound, Wi-Fi) for applications in localization and autonomous navigation. His expertise also extends to reinforcement learning, where he explores innovative methods to improve the efficiency and robustness of autonomous agents, particularly in complex environments such as urban driving or robotic manipulation. His contributions include hybrid approaches combining geometric models, deep neural networks, and imitation strategies, with an emphasis on the generalizability and adaptability of systems. The practical applications of his work span fields such as collaborative robotics, autonomous vehicles, and the understanding of human interactions in urban settings.
Publication(s)
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2026
An Efficient Multi-Estimation-Based Parameter Centroid Decision Via Linear Regression Approach DOI : 10.1109/TPAMI.2026.3653765
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2025
NERAF: 3D SCENE INFUSED NEURAL RADIANCE AND ACOUSTIC FIELDS
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2024
PANO-ECHO: PANOramic depth prediction enhancement with ECHO features DOI : 10.1109/CAI59869.2024.00193
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2024
HiER: Highlight Experience Replay for Boosting Off-Policy Reinforcement Learning Agents DOI : 10.1109/ACCESS.2024.3427012
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2024
MBAPPE: MCTS-Built-Around Prediction for Planning Explicitly DOI : 10.1109/IV55156.2024.10588457
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2023
GRI: General Reinforced Imitation and Its Application to Vision-Based Autonomous Driving DOI : 10.3390/robotics12050127
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2023
The Audio-Visual BatVision Dataset for Research on Sight and Sound DOI : 10.1109/IROS55552.2023.10341715
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2023
Reward Relabelling for combined Reinforcement and Imitation Learning on sparse-reward tasks
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2023
TSGN: Temporal Scene Graph Neural Networks with Projected Vectorized Representation for Multi-Agent Motion Prediction DOI : 10.1109/IV55152.2023.10186764
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2022
Vision and Wi-Fi fusion in probabilistic appearance-based localization DOI : 10.1177/0278364920910485
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2022
THOMAS: TRAJECTORY HEATMAP OUTPUT WITH LEARNED MULTI-AGENT SAMPLING
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2022
GOHOME: Graph-Oriented Heatmap Output for future Motion Estimation DOI : 10.1109/ICRA46639.2022.9812253
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2022
Assessing Cross-dataset Generalization of Pedestrian Crossing Predictors DOI : 10.1109/IV51971.2022.9827083
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2021
HOME: Heatmap Output for future Motion Estimation DOI : 10.1109/ITSC48978.2021.9564944
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2021
TrouSPI-Net: Spatio-temporal attention on parallel atrous convolutions and U-GRUs for skeletal pedestrian crossing prediction DOI : 10.1109/FG52635.2021.9666989
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2020
Generative model for skeletal human movements based on conditional dc-gan applied to pseudo-images DOI : 10.3390/a13120319
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2020
Predicting intentions of pedestrians from 2d skeletal pose sequences with a representation-focused multi-branch deep learning network DOI : 10.3390/a13120331
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2020
End-to-end model-free reinforcement learning for urban driving using implicit affordances DOI : 10.1109/CVPR42600.2020.00718
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2020
Vehicle Absolute Ego-Localization from Vision, Using Only Pre-existing Geo-Referenced Panoramas DOI : 10.1007/978-3-030-44610-9_1
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2019
Urban localization with street views using a convolutional neural network for end-to-end camera pose regression DOI : 10.1109/IVS.2019.8813892
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2019
Multi-users online recognition of technical gestures for natural human–robot collaboration in manufacturing DOI : 10.1007/s10514-018-9704-y
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2019
Real-Time Gestural Control of Robot Manipulator Through Deep Learning Human-Pose Inference DOI : 10.1007/978-3-030-34995-0_51
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2018
End to End Vehicle Lateral Control Using a Single Fisheye Camera DOI : 10.1109/IROS.2018.8594090
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2018
Coupled Longitudinal and Lateral Control of a Vehicle using Deep Learning DOI : 10.1109/ITSC.2018.8570020
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2018
A Natural User Interface for Gestural Expression and Emotional Elicitation to Access the Musical Intangible Cultural Heritage DOI : 10.1145/3127324
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2018
Deep learning for hand gesture recognition on skeletal data DOI : 10.1109/FG.2018.00025
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2017
Topological localization using Wi-Fi and vision merged into FABMAP framework DOI : 10.1109/IROS.2017.8206171
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2016
Improving robustness of monocular urban localization using augmented street view DOI : 10.1109/ITSC.2016.7795603
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2016
Motion planning for urban autonomous driving using bezier curves and MPC DOI : 10.1109/ITSC.2016.7795651
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2016
Fingers gestures early-recognition with a unified framework for RGB or depth camera DOI : 10.1145/2948910.2948947
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2016
Monocular urban localization using street view DOI : 10.1109/ICARCV.2016.7838744
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2016
Towards the design of augmented feedforward and feedback for sensorimotor learning of motor skills DOI : 10.1145/2948910.2948959
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2016
A tabletop instrument for manipulation of sound morphologies with hands, fingertips and upper-body DOI : 10.1145/2948910.2948946
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2016
A hierarchical Model Predictive Control framework for on-road formation control of autonomous vehicles DOI : 10.1109/IVS.2016.7535413
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2016
A user-adaptive gesture recognition system applied to human-robot collaboration in factories DOI : 10.1145/2948910.2948933
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2016
Analysis of Large-Scale Traffic Dynamics in an Urban Transportation Network Using Non-Negative Tensor Factorization DOI : 10.1007/s13177-014-0099-7
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2016
A distributed MPC framework for road-following formation control of car-like vehicles DOI : 10.1109/ICARCV.2016.7838837
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2015
Novel 3D game-like applications driven by body interactions for learning specific forms of intangible cultural heritage DOI : 10.5220/0005456606510660
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2015
Towards the Design of a Natural User Interface for Performing and Learning Musical Gestures DOI : 10.1016/j.promfg.2015.07.952
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2015
Music Gestural Skills Development Engaging Teachers, Learners and Expert Performers DOI : 10.1016/j.promfg.2015.07.428
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2015
Gesture Recognition Using a Depth Camera for Human Robot Collaboration on Assembly Line DOI : 10.1016/j.promfg.2015.07.216
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2015
Decentralized model predictive control for smooth coordination of automated vehicles at intersection DOI : 10.1109/ECC.2015.7331068
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2014
Priority-based coordination of autonomous and legacy vehicles at intersection DOI : 10.1109/ITSC.2014.6957845
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2014
Capture, modeling, and recognition of expert technical gestures in wheel-throwing art of pottery DOI : 10.1145/2627729
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2014
Humanoid robot navigation: Getting localization information from vision DOI : 10.1515/jisys-2013-0079
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2013
Statistical traffic state analysis in large-scale transportation networks using locality-preserving non-negative matrix factorisation DOI : 10.1049/iet-its.2011.0157
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2013
Recognition of supplementary signs for correct interpretation of traffic signs DOI : 10.1109/IVWorkshops.2013.6615228
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2013
Fast 3D keypoints detector and descriptor for view-based 3D objects recognition DOI : 10.1007/978-3-642-40303-3_12
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2013
Recognition of supplementary signs for correct interpretation of traffic signs DOI : 10.1109/IVS.2013.6629450
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2013
Information, modeling and traffic reconstruction DOI : 10.1002/9781118743751.ch3
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2012
3D keypoints detection for objects recognition
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2012
Subsign detection with region-growing from contrasted seeds DOI : 10.1109/ITSC.2012.6338826
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2012
Analysis of large-scale traffic dynamics using non-negative tensor factorization
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2011
3D keypoint detectors and descriptors for 3D objects recognition with TOF camera DOI : 10.1117/12.872483
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2011
Analysis of network-level traffic states using locality preservative non-negative matrix factorization DOI : 10.1109/ITSC.2011.6083060
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2010
Joint interpretation of on-board vision and static GPS cartography for determination of correct speed limit
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2010
Spatial and temporal analysis of traffic states on large scale networks DOI : 10.1109/ITSC.2010.5625175
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2009
Visual object categorization with new keypoint-based adaBoost features DOI : 10.1109/IVS.2009.5164310
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2009
PhD forum: Keypoints-based background model and foreground pedestrians extraction for future smart cameras DOI : 10.1109/ICDSC.2009.5289390
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2009
Adaboost with "Keypoint Presence Features" for real-time vehicle visual detection
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2008
Person re-identification in multi-camera system by signature based on interest point descriptors collected on short video sequences DOI : 10.1109/ICDSC.2008.4635689
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2008
Improving pan-European speed-limit signs recognition with a new "global number segmentation" before digit recognition DOI : 10.1109/IVS.2008.4621168
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2008
A robot behavior-learning experiment using particle swarm optimization for training a neural-based animat DOI : 10.1109/ICARCV.2008.4795790
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2008
Detection and recognition of end-of-speed-limit and supplementary signs for improved european speed limit support
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2007
Modular traffic signs recognition applied to on-vehicle real-time visual detection of American and European speed limit signs
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2007
Robust on-vehicle real-time visual detection of American and European speed limit signs, with a modular Traffic Signs Recognition system DOI : 10.1109/ivs.2007.4290268
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2006
Combining adaBoost with a hill-climbing evolutionary feature search for efficient training of performant visual object detectors DOI : 10.1142/9789812774118_0104
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2005
U*F clustering: A new performant "cluster- mining" method based on segmentation of self-organizing maps
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1998
Adaptive compression of still images: Automating the choice of algorithm and parameters DOI : 10.1117/12.324116
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1995
Scale invariance and self-similar behavior of dark matter halos DOI : 10.1086/175331
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1991
Precollapse scale invariance in gravitational instability DOI : 10.1086/170728
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1990
Collisionless formation of filaments in an expanding universe DOI : 10.1086/168662
Teaching
Artificial Intelligence
Theory of statistical learning; types of applications: classification, regression, prediction, categorization, … neural networks (multilayer, RBF, …) ; kernel methods and Support Vector Machines (SVM); boosting; probabilistic graphical models (Bayesian networks); unsupervised learning for categorization (k-means, Kohonen topological maps, etc.); evolutionary algorithms and other meta-heuristics.
Large-Scale Machine Learning and Data Mining
The week is organized around three types of activities: Lectures (mornings), hands-on sessions (afternoons), and conferences and roundtable discussions (evenings)
PhD supervision
- 2025 Semantic perception through spatio-spectral analysis of the scene. IVANOVA Ivanina
- 2024 Reinforcement Learning for Prediction and Planning in Automated Driving DOULAZMI Waël
- 2024 Motion prediction involving agent-to-agent interactions and multimodal modeling AZEVEDO TONÉ Caio
- 2024 Multi-Modal Foundation Model for 4D Scene Understanding and Synthesis WANG Fusang
- 2023 Active perception for night scene understanding through vehicle lighting DE MOREAU Simon
- 2022 Multimodal reasoning for geometric and acoustic scene reconstruction BRUNETTO Amandine
- 2021 Integrate expert knowledge into deep reinforcement learning methods for autonomous driving. CHEKROUN Raphaël
- 2020 Smart prediction of vehicle trajectories in different autonomous driving scenarios GILLES Thomas
- 2019 Analysis of pedestrian movements and gestures using an on-board camera for predicting their intentions GESNOUIN Joseph
- 2019 Deep Reinforcement and Demonstration Learning for Robotic Manipulation Behavior BUJALANCE MARTIN Jesús
- 2018 Reinforcement learning for autonomous vehicle control from vision TOROMANOFF Marin
- 2016 The localization of a humanoid robot in an unconstrained indoor environment NOWAKOWSKI Mathieu
- 2016 Deep learning for multivariate time series: autonomous vehicle control, gesture recognition, and motion generation DEVINEAU Guillaume